dynamic_mapping_pc.sh

#!/bin/bash

export ROS_IP=10.42.0.19
export ROS_MASTER_URI=http://dagobert:11311/

echo "-----------------------------------------------------------"
echo "-                    Starting rviz                        -"
echo "-----------------------------------------------------------"
rosrun rviz rviz &
PID1="$!"
sleep 1

f_flag= 
f_val=

while getopts ":f:nk" opt; do
	case $opt in
		f)
			f_flag=1
			f_val="$OPTARG"
			;;
		n)	
			n_flag=1
			;;
		k)
			k_flag=1
			;;
	esac
done		

if [ ! -z "$f_flag" ]; then			
			echo "-----------------------------------------------------------"
			echo "-        Starting dynamic map import from file            -"
			echo "-----------------------------------------------------------"

else
			echo "-----------------------------------------------------------"
			echo "-        Starting dynamic map without file import         -"
			echo "-----------------------------------------------------------"
fi

rosrun dynamic_mapping main _file_name:="$f_val" &
PID2="$!"
sleep 1

if [ ! -z "$n_flag" ]; then			
			echo "-----------------------------------------------------------"
			echo "-               Starting navigation stack                 -"
			echo "-----------------------------------------------------------"
			roslaunch navigation-groovy-devel/move_base.launch 
			PID3="$!"
else
			echo "-----------------------------------------------------------"
			echo "-               Starting keyboard control                 -"
			echo "-----------------------------------------------------------"
			rosrun p3at keyboard_control
			PID3="$!"
fi
			
trap "kill $PID1 $PID2 $PID3" exit INT TERM

wait